Bulk cargo ship loading and unloading operation planning equipment based on 3D point cloud picture

Abstract

The utility model discloses bulk cargo ship loading and unloading operation planning equipment based on a 3D point cloud picture, which comprises a movable chassis, a support frame arranged on the movable chassis, a belt elevator positioned on the support frame, a lifting frame connected with the belt elevator, and a direction adjusting assembly arranged on the lifting frame, the unloading assembly is located on the lifting frame and connected with the direction adjusting assembly; the unloading assembly comprises a rotating disc connected with the direction adjusting assembly, two connecting frames arranged on the rotating disc, first sliding rails fixedly installed on the connecting frames, second sliding rails slidably connected with the first sliding rails, a moving frame connected with the second sliding rails and an unloading part connected with the moving frame. Through cooperation of the arranged direction adjusting assembly and the unloading assembly, loading and unloading treatment work can be conducted on goods at the set position according to information of a point cloud picture, meanwhile, the path of the device can be optimized through the arranged movable chassis, and then loading and unloading work of the goods is completed.

Description

Technical Field

[0001] The utility model belongs to the technical field of unloading planning equipment, and in particular relates to a bulk carrier loading and unloading operation planning device based on a 3D point cloud map. Background Art

[0002] A point cloud is a collection of points in a three-dimensional space, which usually represent the surface or volume of an object. In 3D computer graphics, machine vision, and robotics, point clouds are often used to describe and represent objects or scenes in the real world. Each point in a point cloud contains three-dimensional coordinate information (X, Y, Z), and sometimes other attributes such as color, intensity, or reflectivity.

[0003] Through the characteristics of the above-mentioned point cloud map, it can be moved to the cargo ship. When the cargo in the cargo ship is loaded and unloaded, the cargo loading and unloading device is controlled by the control system based on the image of the point cloud map, so that the cargo can be moved according to the pre-set information, and the unloading planning of the cargo is completed. The existing cargo unloading work is mostly carried out by manually controlling the unloading truck, and the working environment of the unloading truck requires a larger space, which leads to a reduction in the cargo stacking area, and then leads to low efficiency in placing cargo in the cargo ship.

[0004] Therefore, how to complete the loading and unloading of cargo in cargo ships is a problem that needs to be solved at present. Utility Model Content

[0005] Purpose of the utility model: to provide a bulk carrier loading and unloading operation planning device based on 3D point cloud map to solve the above-mentioned problems existing in the prior art.

[0006] Technical solution: A bulk carrier loading and unloading operation planning device based on 3D point cloud map, including:

[0007] A mobile chassis, a support frame and a binocular camera disposed on the mobile chassis, a belt elevator located on the support frame, a lifting frame connected to the belt elevator, a direction adjustment component disposed on the lifting frame, and a cargo unloading component located on the lifting frame and connected to the direction adjustment component;

[0008] The unloading assembly includes a rotating disk connected to the direction adjustment assembly, two connecting frames arranged on the rotating disk, a first slide rail fixedly mounted on the connecting frame, a second slide rail slidably connected to the first slide rail, a moving frame connected to the second slide rail, and an unloading portion arranged on the rotating disk and connected to the moving frame;

[0009] When working, the binocular camera collects the location information of the goods and transmits it to the control system. The control system draws the corresponding 3D point cloud map. According to the drawn point cloud map information, the control system makes the corresponding mechanism move to complete the cargo loading and unloading planning work.

[0010] In a further embodiment, the unloading part includes four supports arranged on the rotating disk, transmission wheels arranged on the supports, a transmission belt for connecting the transmission wheels, a connecting shaft for connecting two of the transmission wheels, and an unloading part connected to the connecting shaft.

[0011] In a further embodiment, the unloading part includes an unloading motor fixedly mounted on the rotating disk, a driving wheel connected to the output end of the unloading motor, a driven wheel sleeved on the connecting shaft, and a driven belt for connecting the driving wheel and the driven wheel.

[0012] In a further embodiment, a driving block is further provided on one of the transmission belts, and the driving block is connected to the moving frame.

[0013] In a further embodiment, the moving frame is a U-shaped structure.

[0014] In a further embodiment, the direction adjustment assembly includes a rotary motor disposed on the lifting frame, a driving gear connected to an output end of the rotary motor, and a driven gear meshing with the driving gear;

[0015] The driven gear is connected with the rotating disk.

[0016] Beneficial effects: The utility model relates to a bulk carrier loading and unloading operation planning device based on a 3D point cloud map. In order to avoid the low efficiency of cargo placement in a cargo ship, the device includes a mobile chassis, a support frame arranged on the mobile chassis, a belt elevator located on the support frame, a lifting frame connected to the belt elevator, a direction adjustment component arranged on the lifting frame, and a unloading component located on the lifting frame and connected to the direction adjustment component; the unloading component includes a rotating disk connected to the direction adjustment component, two connecting frames arranged on the rotating disk, a first slide rail fixedly mounted on the connecting frame, a second slide rail slidably connected to the first slide rail, a moving frame connected to the second slide rail, and a unloading part arranged on the rotating disk and connected to the moving frame; through the cooperation of the direction adjustment component and the unloading component, the cargo at a predetermined position can be loaded and unloaded according to the information of the point cloud map, and the path of the device can be optimized through the mobile chassis, thereby completing the loading and unloading of the cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional diagram of the utility model.

[0018] Figure 2 It is a three-dimensional diagram of the unloading component in the utility model.

[0019] Figure 3 It is a schematic diagram of the unloading component in the utility model.

[0020] The reference numerals in the figure are: mobile chassis 1, support frame 2, belt elevator 3, lifting frame 4, unloading assembly 5, unloading part 51, unloading motor 511, driving wheel 512, support 513, connecting shaft 514, transmission wheel 515, transmission belt 516, driven wheel 517, driven belt 518, driving block 519, connecting frame 52, first slide rail 53, second slide rail 54, moving frame 55, rotating disk 56, direction adjustment assembly 6, rotating motor 61, driving gear 62, driven gear 63. DETAILED DESCRIPTION

[0021] After research and analysis by the applicant, it is found that the reason for this problem (low efficiency of cargo placement in cargo ships) is that the existing cargo unloading work is mostly carried out by manually controlling unloading trucks, and the working environment of unloading trucks requires a large space, which leads to a reduction in the cargo stacking area. In order to avoid the low efficiency of cargo placement in cargo ships, the present invention comprises a mobile chassis, a support frame arranged on the mobile chassis, a belt elevator located on the support frame, a lifting frame connected to the belt elevator, a direction adjustment component arranged on the lifting frame, and an unloading device located on the lifting frame and connected to the direction adjustment component. The unloading component comprises a rotating disk connected to the direction-adjusting component, two connecting frames arranged on the rotating disk, a first slide rail fixedly mounted on the connecting frame, a second slide rail slidably connected to the first slide rail, a moving frame connected to the second slide rail, and an unloading part arranged on the rotating disk and connected to the moving frame; through the cooperation between the direction-adjusting component and the unloading component, the cargo at a predetermined position can be loaded and unloaded according to the information of the point cloud map, and the path of the device can be optimized through the mobile chassis, thereby completing the loading and unloading of the cargo.

[0022] A bulk carrier loading and unloading operation planning device based on a 3D point cloud map comprises: a mobile chassis 1, a support frame 2, a belt elevator 3, a lifting frame 4, an unloading component 5, an unloading part 51, an unloading motor 511, a driving wheel 512, a support 513, a connecting shaft 514, a transmission wheel 515, a transmission belt 516, a driven wheel 517, a driven belt 518, a driving block 519, a connecting frame 52, a first slide rail 53, a second slide rail 54, a moving frame 55, a rotating disk 56, a direction adjustment component 6, a rotating motor 61, a driving gear 62, and a driven gear 63.

[0023] The device comprises a mobile chassis 1, a support frame 2 and a binocular camera arranged on the mobile chassis 1, a belt elevator 3 located on the support frame 2, a lifting frame 4 connected to the belt elevator 3, a direction adjustment component 6 arranged on the lifting frame 4, and a cargo unloading component 5 located on the lifting frame 4 and connected to the direction adjustment component 6; the cargo unloading component 5 comprises a rotating disk 56 connected to the direction adjustment component 6, two connecting frames 52 arranged on the rotating disk 56, a first slide rail 53 fixedly mounted on the connecting frame 52, a second slide rail 54 slidably connected to the first slide rail 53, and a mobile Frame 55, and an unloading part 51 arranged on the rotating disk 56 and connected to the moving frame 55; when working, the location information of the goods is collected by the binocular camera and transmitted to the control system, and the corresponding 3D point cloud map is drawn by the control system. According to the drawn point cloud map information, the control system enables the corresponding mechanism to move to complete the cargo loading and unloading planning work; through the cooperation of the setting adjustment component 6 and the unloading component 5, the cargo at the predetermined position can be loaded and unloaded according to the information of the point cloud map, and the path of the device can be optimized through the setting of the mobile chassis 1, thereby completing the cargo loading and unloading work.

[0024] The unloading part 51 includes four supports 513 arranged on the rotating disk 56, a transmission wheel 515 arranged on the support 513, a transmission belt 516 for connecting the transmission wheel 515, a connecting shaft 514 for connecting two of the transmission wheels 515, and an unloading part connected to the connecting shaft 514; the unloading part includes an unloading motor 511 fixedly installed on the rotating disk 56, a driving wheel 512 connected to the output end of the unloading motor 511, a driven wheel 517 sleeved on the connecting shaft 514, and a driven belt 518 for connecting the driving wheel 512 and the driven wheel 517; when unloading work is required, the unloading component 5 is moved to a predetermined position by moving the chassis 1, and then the belt 518 is moved to the predetermined position. The height of the unloading assembly 5 is adjusted during the operation of the elevator 3, and the belt elevator 3 is the prior art. Then the unloading motor 511 starts to work, and the connecting shaft 514 is rotated by the arranged driving wheel 512, driven belt 518 and driven wheel 517, so that the transmission wheel 515 can move, thereby moving the transmission belt 516, and then the moving transmission belt 516 drives the driving block 519 to move, so that the moving frame 55 can move, and then the telescopic fork arranged in the three-dimensional warehouse can move the goods placed on the wooden pallet in the moving frame 55 together with the wooden pallet to the moving frame 55, thereby completing the freight loading work, and the unloading work is the opposite of the above process, which will not be elaborated here.

[0025] A driving block 519 is also provided on one of the transmission belts 516 , and the driving block 519 is connected to the moving frame 55 .

[0026] The moving frame 55 is a U-shaped structure.

[0027] The steering assembly 6 includes a rotating motor 61 arranged on the lifting frame 4, a driving gear 62 connected to the output end of the rotating motor 61, and a driven gear 63 meshing with the driving gear 62; the driven gear 63 is connected to the rotating disk 56; during the loading and unloading process, the rotating motor 61 starts to work, and the moving rotating motor 61 starts to drive the driving gear 62 to rotate, and then can drive the driven gear 63 to move, so that the rotating disk 56 can move, adjust the loading and unloading position and the placement position of the goods, and facilitate the smooth progress of the loading and unloading work.

[0028] Working principle description: When unloading is required, the unloading assembly 5 is moved to a predetermined position by moving the chassis 1, and then the height of the unloading assembly 5 is adjusted under the operation of the belt elevator 3, and the belt elevator 3 is a prior art. Then the unloading motor 511 starts to work, and the connecting shaft 514 is rotated by the set driving wheel 512, driven belt 518 and driven wheel 517, so that the transmission wheel 515 can move, so that the transmission belt 516 moves, and then the moving transmission belt 516 drives the driving block 519 to move. The moving frame 55 can then be moved, and then the goods placed on the wooden pallet in the moving frame 55 can be moved together with the wooden pallet to the moving frame 55 through the telescopic fork arranged in the stereoscopic warehouse, thereby completing the loading and unloading of the goods; during the loading and unloading process, the rotating motor 61 starts to work, and the moving rotating motor 61 starts to drive the driving gear 62 to rotate, and then can drive the driven gear 63 to move, so that the rotating disk 56 can move, and the loading and unloading position and placement position of the goods can be adjusted, thereby facilitating the smooth progress of the loading and unloading work.

[0029] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be interpreted as limiting the present invention itself. Various changes can be made to it in form and detail without departing from the spirit and scope of the present invention defined in the appended claims.

Claims

1. A bulk carrier loading and unloading operation planning device based on 3D point cloud map, characterized in that: include: A mobile chassis, a support frame and a binocular camera disposed on the mobile chassis, a belt elevator disposed on the support frame, a lifting frame connected to the belt elevator, a direction adjustment component disposed on the lifting frame, and a cargo unloading component disposed on the lifting frame and connected to the direction adjustment component; The unloading assembly includes a rotating disk connected to the direction adjustment assembly, two connecting frames arranged on the rotating disk, a first slide rail fixedly mounted on the connecting frame, a second slide rail slidably connected to the first slide rail, a moving frame connected to the second slide rail, and an unloading portion arranged on the rotating disk and connected to the moving frame; When working, the binocular camera collects the location information of the goods and transmits it to the control system. The control system draws the corresponding 3D point cloud map. According to the drawn point cloud map information, the control system makes the corresponding mechanism move to complete the cargo loading and unloading planning work.

2. The bulk carrier loading and unloading operation planning device based on 3D point cloud map according to claim 1 is characterized by: The unloading part includes four supports arranged on the rotating disk, transmission wheels arranged on the supports, transmission belts used to connect the transmission wheels, a connecting shaft used to connect two of the transmission wheels, and an unloading piece connected to the connecting shaft.

3. The bulk carrier loading and unloading operation planning device based on 3D point cloud map according to claim 2 is characterized by: The unloading part includes an unloading motor fixedly mounted on the rotating disk, a driving wheel connected to the output end of the unloading motor, a driven wheel sleeved on the connecting shaft, and a driven belt for connecting the driving wheel and the driven wheel.

4. The bulk carrier loading and unloading operation planning device based on 3D point cloud map according to claim 3 is characterized by: One of the transmission belts is also provided with a driving block, and the driving block is connected with the moving frame.

5. The bulk carrier loading and unloading operation planning device based on 3D point cloud map according to claim 4 is characterized by: The moving frame is a U-shaped structure.

6. The bulk carrier loading and unloading operation planning device based on 3D point cloud map according to claim 1 is characterized by: The direction adjustment assembly includes a rotating motor disposed on the lifting frame, a driving gear connected to an output end of the rotating motor, and a driven gear meshed with the driving gear; The driven gear is connected with the rotating disk.

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